A fault tolerant manipulator robot based on H2, H ∞, and mixed H2/H∞ Markovian controls

Proceedings of the IEEE International Conference on Control Applications

Volumn 1, Issue , 2004, Pages 309-314

  Siqueira, Adriano A G ^a   Terra, Marco H ^a  

^a UNIVERSITY OF SÃO PAULO   (Brazil)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); FAULT TOLERANT COMPUTER SYSTEMS; LINEARIZATION; MANIPULATORS; MARKOV PROCESSES; MATHEMATICAL MODELS; TWO TERM CONTROL SYSTEMS; VECTORS;

FAULT SEQUENCES; GRAVITATIONAL TORQUES; JOINT ACCELERATION VECTORS; MANIPULATOR JOINTS;

ROBOTS;

EID: 17744390413     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. H. Arai and S. Tachi. Position control of a manipulator with passive joints using dynamic coupling. IEEE Transactions on Robotics and Automation, 7(4):528-534, August 1991.
2. O. L. V. Costa and J. B. R. do Val. Full information Woo-control for discrete-time infi nite markov jump parameter systems. Journal of Mathematical Analysis and Applications, 202:578-603, 1996.
3. ∞-control of discrete-time markovian jump linear systems. IEEE Transactions on Automatic Control, 43(1):95-100, January 1998.
4. 2-control for discrete-time markovian jump linear systems. International Journal of Control, 73(1):11-21, 2000.
5. R.P. Marques. Algoritmos de controle para sistemas sujeitos a saltos Markovianos. PhD thesis, Escola Politécnica da Universidade de São Paulo, 1997.
6. ∞ controls of underactuated manipulators. Conference on Decision and Control - CDC2002. To appear in IEEE Tran. on Control Systems Technology, 2004.
7. M. H. Terra and R. Tinós. Fault detection and isolation in robotic manipulators via neural networks - a comparison among three architectures for residual analysis. Journal of Robotic Systems, 18:357-374, July 2001.